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update mavlink xml

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Signed-off-by: Matt <matt@matthewgong.com>
This commit is contained in:
Matt
2018-04-29 09:48:09 +08:00
parent fe1bed229c
commit 5b488ca7bd
43 changed files with 3316 additions and 1150 deletions
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common/mavlink_msg_vicon_position_estimate.h
+37 -20
View File
@@ -12,23 +12,24 @@ typedef struct __mavlink_vicon_position_estimate_t {
float roll; /*< Roll angle in rad*/
float pitch; /*< Pitch angle in rad*/
float yaw; /*< Yaw angle in rad*/
float covariance[21]; /*< Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)*/
}) mavlink_vicon_position_estimate_t;
#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN 32
#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN 116
#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN 32
#define MAVLINK_MSG_ID_104_LEN 32
#define MAVLINK_MSG_ID_104_LEN 116
#define MAVLINK_MSG_ID_104_MIN_LEN 32
#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC 56
#define MAVLINK_MSG_ID_104_CRC 56
#define MAVLINK_MSG_VICON_POSITION_ESTIMATE_FIELD_COVARIANCE_LEN 21
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE { \
104, \
"VICON_POSITION_ESTIMATE", \
7, \
8, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vicon_position_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vicon_position_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vicon_position_estimate_t, y) }, \
@@ -36,12 +37,13 @@ typedef struct __mavlink_vicon_position_estimate_t {
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vicon_position_estimate_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vicon_position_estimate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vicon_position_estimate_t, yaw) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 32, offsetof(mavlink_vicon_position_estimate_t, covariance) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE { \
"VICON_POSITION_ESTIMATE", \
7, \
8, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vicon_position_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vicon_position_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vicon_position_estimate_t, y) }, \
@@ -49,6 +51,7 @@ typedef struct __mavlink_vicon_position_estimate_t {
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vicon_position_estimate_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vicon_position_estimate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vicon_position_estimate_t, yaw) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 32, offsetof(mavlink_vicon_position_estimate_t, covariance) }, \
} \
}
#endif
@@ -66,10 +69,11 @@ typedef struct __mavlink_vicon_position_estimate_t {
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN];
@@ -80,7 +84,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_i
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
#else
mavlink_vicon_position_estimate_t packet;
@@ -91,7 +95,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_i
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
#endif
@@ -112,11 +116,12 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_i
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw,const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN];
@@ -127,7 +132,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t sys
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
#else
mavlink_vicon_position_estimate_t packet;
@@ -138,7 +143,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t sys
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
#endif
@@ -156,7 +161,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t sys
*/
static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vicon_position_estimate_t* vicon_position_estimate)
{
return mavlink_msg_vicon_position_estimate_pack(system_id, component_id, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw);
return mavlink_msg_vicon_position_estimate_pack(system_id, component_id, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw, vicon_position_estimate->covariance);
}
/**
@@ -170,7 +175,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system
*/
static inline uint16_t mavlink_msg_vicon_position_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vicon_position_estimate_t* vicon_position_estimate)
{
return mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, chan, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw);
return mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, chan, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw, vicon_position_estimate->covariance);
}
/**
@@ -184,10 +189,11 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_encode_chan(uint8_t s
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN];
@@ -198,7 +204,7 @@ static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t ch
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, covariance, 21);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
#else
mavlink_vicon_position_estimate_t packet;
@@ -209,7 +215,7 @@ static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t ch
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
#endif
}
@@ -222,7 +228,7 @@ static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t ch
static inline void mavlink_msg_vicon_position_estimate_send_struct(mavlink_channel_t chan, const mavlink_vicon_position_estimate_t* vicon_position_estimate)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_vicon_position_estimate_send(chan, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw);
mavlink_msg_vicon_position_estimate_send(chan, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw, vicon_position_estimate->covariance);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)vicon_position_estimate, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
#endif
@@ -236,7 +242,7 @@ static inline void mavlink_msg_vicon_position_estimate_send_struct(mavlink_chann
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_vicon_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
static inline void mavlink_msg_vicon_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
@@ -247,7 +253,7 @@ static inline void mavlink_msg_vicon_position_estimate_send_buf(mavlink_message_
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, covariance, 21);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
#else
mavlink_vicon_position_estimate_t *packet = (mavlink_vicon_position_estimate_t *)msgbuf;
@@ -258,7 +264,7 @@ static inline void mavlink_msg_vicon_position_estimate_send_buf(mavlink_message_
packet->roll = roll;
packet->pitch = pitch;
packet->yaw = yaw;
mav_array_memcpy(packet->covariance, covariance, sizeof(float)*21);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
#endif
}
@@ -339,6 +345,16 @@ static inline float mavlink_msg_vicon_position_estimate_get_yaw(const mavlink_me
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field covariance from vicon_position_estimate message
*
* @return Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
*/
static inline uint16_t mavlink_msg_vicon_position_estimate_get_covariance(const mavlink_message_t* msg, float *covariance)
{
return _MAV_RETURN_float_array(msg, covariance, 21, 32);
}
/**
* @brief Decode a vicon_position_estimate message into a struct
*
@@ -355,6 +371,7 @@ static inline void mavlink_msg_vicon_position_estimate_decode(const mavlink_mess
vicon_position_estimate->roll = mavlink_msg_vicon_position_estimate_get_roll(msg);
vicon_position_estimate->pitch = mavlink_msg_vicon_position_estimate_get_pitch(msg);
vicon_position_estimate->yaw = mavlink_msg_vicon_position_estimate_get_yaw(msg);
mavlink_msg_vicon_position_estimate_get_covariance(msg, vicon_position_estimate->covariance);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN? msg->len : MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN;
memset(vicon_position_estimate, 0, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);